A Comprehensive Review on Robotic Arm Design, Control, and Applications Across Multiple Domain

Abstract

Robotic arms have evolved rapidly over the past decade, integrating advanced control algorithms, lightweight materials, and artificial intelligence to perform diverse tasks across industries. This review paper provides a comprehensive overview of robotic arm development, including design structures, kinematic modeling, control methodologies, and multi-domain applications. By synthesizing findings from recent studies, this paper highlights innovations such as compliant joints, twin actuation systems, hybrid control mechanisms, and modular collaborative designs. Applications in industrial automation, medical surgery, space exploration, and precision agriculture are critically analyzed. Finally, challenges and research directions are discussed to promote further development in efficiency, adaptability, and intelligence of robotic arms.

Introduction

Robotic arms are key automation innovations, mimicking human limb functions across industrial, medical, agricultural, and space applications. Research focuses on improving dexterity, stiffness, precision, and energy efficiency while maintaining lightweight structures. Designs include snake-arm robots for confined spaces, dual-arm collaborative robots, and compliant manipulators for safe human interaction.

Control strategies involve robust sliding mode, hierarchical, and AI-based controllers, often optimized with algorithms like PSO. Applications span industrial assembly, surgical procedures, space debris handling, and agricultural tasks such as pollination. Emerging trends include compliant and modular designs, AI integration, and multi-arm collaboration. Future directions emphasize deep learning, sensor fusion, digital twins, and lightweight, energy-efficient structures for enhanced adaptability and performance.

Conclusion

This review consolidates developments in robotic arm design, control, and applications across multiple domains. The integration of compliant mechanisms, hierarchical control, and advanced simulations has transformed robotic arms from rigid manipulators into intelligent, flexible systems. Continued interdisciplinary research will drive innovation, making robotic arms indispensable in future industrial, medical, and extraterrestrial environments.

References

[1] Xin Donga, Mark Rafflesa, Salvador Cobos Guzmana, Dragos Axintea, James Kell . Design and analysis of a family of snake arm robots connected by compliant joints Mechanism and Machine Theory Volume 77, July 2014, Pages 73-91 [2] Saber Hachicha,, Chiheb Zaouia, Habib Dallagi, Samir Nejim, Aref Maalej. Innovative design of an underwater cleaning robot with a two arm manipulator for hull cleaning . Ocean Engineering Volume 181, 1 June 2019, Pages 303-313 [3] K.V.R. Swathi a , ?, G.V. Nagesh Kumar b Design of intelligent controller for reduction of chattering phenomenon in robotic arm: A rapid prototyping , Computers and Electrical Engineering 74 (2019) 4 83–4 97 [4] K. Rahul, Hifjur Raheman?, Vikas Paradkar. Design and development of a 5R 2DOF parallel robot arm for handling paper pot seedlings in a vegetable transplanter, Computers and Electronics in Agriculture Volume 166, November 2019, 105014Hoon Yub Kim a,*, Dawon Park a, Antonio A.T. Bertelli b,1 , The pros and cons of additional axillary arm for transoral robotic thyroidectomy. https://doi.org/10.1016/j.wjorl.2020.01.010 [5] Jens Buhla et.al , Dual-arm Collaborative robot system for the smart factories of the future Procedia Manufacturing 38 (2019) 333–340 [6] Vera I. Mayorova * , Georgy A. Shcheglov, Mihail V. Stognii, Analysis of the space debris objects nozzle capture dynamic processed by a telescopic robotic arm , Acta Astronautica Volume 187, October 2021, Pages 259-270 [7] Paul Coffey, Paul Coffey , Nick Smith Adrian Davis-Johnston , Barry Lennox , Philip A. Martin , Gerben Kijne , Bob Bowen, Robotic arm material characterisation using LIBS and Raman in a nuclear hot cell decommissioning environment. Journal of Hazardous Materials Volume 412, 15 June 2021, 125193 [8] Shihao Ni , Weidong Chen , Hehua Ju , Ti Chen, Coordinated trajectory planning of a dual-arm space robot with multiple avoidance constraints , Acta Astronautica Volume 195, June 2022, Pages 379-391 [9] Kai Li a a , Yujia Huo a , Yinan Liu a , Yinggang Shi a , b , c , Zhi He a , Yongjie Cui Design of a lightweight robotic arm for kiwifruit pollination , Computers and Electronics in Agriculture 198 (2022) 107114 [10] Cheng a a , Duanling Li a , * , Gongjing Yu b , Zhonghai Zhang b , Shuyue Yu, Robotic arm control system based on brain-muscle mixed signals Liwei Biomedical Signal Processing and Control Volume 77, August 2022, 103754 [11] Jianqing Peng a , b , c , Haoxuan Wu a , Chi Zhang a , Qihan Chen a , Deshan Meng d , ?, Xueqian Wang, Modeling, Cooperative Planning and Compliant Control of Multi-arm Space Continuous Robot for Target Manipulation, Applied Mathematical Modelling Volume 121, September 2023, Pages 690-713

Copyright

Copyright © 2025 Simpy Kumary, Vikas Kumar Shukla. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.